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Content Provider | IEEE Xplore Digital Library |
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Author | Kotlarski, J. de Nijs, R. Abdellatif, H. Heimann, B. |
Copyright Year | 2009 |
Description | Author affiliation: Universidad Politécnica de Valencia, Spain (de Nijs, R.) || Institute of Mechatronic Systems (former Institute of Robotics), Leibniz Universität Hannover, Germany (Kotlarski, J.; Abdellatif, H.; Heimann, B.) |
Abstract | In the present paper we introduce an improved method to obtain the guaranteed singularity-free workspace of planar parallel kinematic machines. A geometric condition for the existence of singularities is extended to be used in interval analysis. Therefore, we eliminate the need of calculating the inconvenient interval form of the Jacobian's determinant. Hence, an appropriate description of the singularity-free workspace is obtained and the computational effort is reduced significantly. With the interval-based approach error sources, like manufacturing tolerances, can be considered. Consequently, regions that do not satisfy the proposed condition can be guaranteed not to have any type-two singularities. Several analysis examples demonstrate the efficiency of the proposed geometrical-based solver in comparison to existing solvers, i.e. based on the Jacobian's determinant. |
Starting Page | 1256 |
Ending Page | 1261 |
File Size | 698030 |
Page Count | 6 |
File Format | |
ISBN | 9781424427888 |
ISSN | 10504729 |
DOI | 10.1109/ROBOT.2009.5152221 |
Language | English |
Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
Publisher Date | 2009-05-12 |
Publisher Place | Japan |
Access Restriction | Subscribed |
Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
Subject Keyword | Parallel robots Jacobian matrices Arithmetic Manufacturing Manipulator dynamics Robotics and automation Trajectory Mechatronics Robot kinematics Uncertainty |
Content Type | Text |
Resource Type | Article |
Subject | Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software |
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